@inproceedings{1225bb1d225a449ebc04a3c5457572e6,
title = "Robust H∞handling Stability Control for All-Wheel Independent Steering Vehicle with Time Delay",
abstract = "A robust control method considering the pole placement for handling stability of the ground vehicles is studied in this paper. For anglicizing the lateral dynamics problem, the bike vehicle model is introduced firstly. Since saturation and non-linear phenomenon may happen on tires during the time when the vehicle is steering, parameters like cornering stiffness would change during that procedure and hence there're parameter uncertainties in the system. Moreover, the modelling uncertainties and disturbance also exist. Robust control is applied for dealing the problem above. A H∞ controller is designed to guarantee performance of the handling stability. Pole placement method is used for the consideration of the transient response. State feedback controller is derived according to the model with uncertainties and the method. Linear matrix inequality (LMI) method is used for solving the gain of the feedback matrix. Simulations are done for analyzing the effectiveness of the controller. The controller can improve the safety and helping the vehicle track the trajectory.",
keywords = "NCS, Robust control, all-wheel independent steering",
author = "Naisi Zhang and Jibin Hu and Jun Ni",
note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE Intelligent Vehicles Symposium, IV 2018 ; Conference date: 26-09-2018 Through 30-09-2018",
year = "2018",
month = oct,
day = "18",
doi = "10.1109/IVS.2018.8500415",
language = "English",
series = "IEEE Intelligent Vehicles Symposium, Proceedings",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "886--891",
booktitle = "2018 IEEE Intelligent Vehicles Symposium, IV 2018",
address = "United States",
}